| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a mobile apparatus moving or acting appropriately from the viewpoint of effectively avoiding the blocking of movement by an object. Ž<P>SOLUTION: Even when a first moving condition is not satisfied, when it is determined that a second moving condition is satisfied and at the same time an object 2 belongs to a first classification, an operation of a robot 1 is controlled so as to prompt the object 2 to move according to a first pattern or an optional pattern. The second moving condition is a condition that the robot 1 is capable of moving in accordance to a current target position trajectory P0 without being obstructed by the object 2 when the object is displaced according to the first pattern. The first classification is a classification of the object as an object capable of recognizing an action pattern of the robot 1 and capable of moving autonomously. Thus, it is possible to confirm in advance that the robot 1 is capable of moving according to the current target position trajectory P0 without being obstructed by the object 2, when the object is displaced autonomously according to the prompting operation of the robot 1. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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